CN107898394B - Deformable floor sweeping robot and control method thereof - Google Patents
Deformable floor sweeping robot and control method thereof Download PDFInfo
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- CN107898394B CN107898394B CN201711180659.XA CN201711180659A CN107898394B CN 107898394 B CN107898394 B CN 107898394B CN 201711180659 A CN201711180659 A CN 201711180659A CN 107898394 B CN107898394 B CN 107898394B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000000428 dust Substances 0.000 claims abstract description 134
- 238000004140 cleaning Methods 0.000 claims abstract description 24
- 238000010521 absorption reaction Methods 0.000 claims abstract description 11
- 239000012528 membrane Substances 0.000 claims abstract description 6
- 239000000463 material Substances 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 9
- 239000007787 solid Substances 0.000 claims description 7
- 238000007599 discharging Methods 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims 1
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- 238000004422 calculation algorithm Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
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- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Manipulator (AREA)
Abstract
The application relates to the technical field of cleaning devices, in particular to a deformable sweeping robot and a control method thereof, and aims to solve the problems that the sweeping robot in the prior art cannot effectively sweep corners and is low in cleaning efficiency. The method mainly comprises the following steps: the setting is the gasbag in the tail bin, keep apart the gasbag for the gasbag internal parting membrane in the malleation shape preserving district on upper portion and the negative pressure dust absorption district of lower part, a branch air flue of dust absorption, a plurality of vice dust absorption mouths, air-out main air flue, a branch air flue of air-out, the pneumatic valve etc, utilize this flexible robot of sweeping the floor, when sweeping the mode from normal to the corner, pop out the gasbag of shrink in the tail bin, make the vice dust absorption mouth that exposes adsorb dust, and send into the dust-collecting box through a branch air flue of dust absorption, this gasbag can take place deformation according to the deformation in corner, adapt to the corner shape, thereby, the dust that can effectively corner was cleaned, promote clean efficiency.
Description
Technical Field
The application relates to the technical field of cleaning devices, in particular to a deformable floor sweeping robot and a control method thereof.
Background
At present, a vacuum cleaner is favored as a cleaning device, especially a sweeping robot which automatically performs a cleaning operation without being controlled by a user in a current comparison process. Which sucks in external air containing foreign substances mainly by generating an air suction force by driving an air suction unit provided in a cleaner body, and then separately collects the foreign substances.
The sweeping robot sucks foreign substances such as dust from the floor and automatically travels in an area to be cleaned. Moreover, the sweeping robot can automatically clean a specific area. To this end, the robot cleaner is provided with: a distance sensor sensing a distance to an obstacle such as furniture, office supplies, or a wall in an area to be cleaned; and left and right wheels configured to be rotated by the left and right wheel motors for movement of the robot cleaner, the robot cleaner automatically performing indoor cleaning according to the operation of the left and right wheel motors, changing a traveling direction.
The existing sweeping robot mainly depends on a dust suction port arranged at the bottom of a shell to suck dust, but the structure is not beneficial to sweeping corners, and the dust suction port cannot reach the corners, so that the existing sweeping robot cannot effectively sweep the corners and the cleaning efficiency is not high.
Disclosure of Invention
The embodiment of the application provides a deformable sweeping robot and a control method thereof, and aims to solve the problems that in the prior art, the sweeping robot cannot effectively sweep corners and is low in cleaning efficiency.
The embodiment of the application adopts the following technical scheme:
a deformable floor sweeping robot comprises an upper shell, a lower shell, a dust collecting box, a dust collecting fan, an automatic walking unit and a control circuit, wherein the dust collecting box, the dust collecting fan, the automatic walking unit and the control circuit are arranged between the upper shell and the lower shell; the dust collecting box is connected with the main dust suction port and the dust suction fan;
the upper shell and the lower shell define an openable tail bin at the tail part,
an air bag is arranged in the tail bin;
an airbag inner membrane separates the airbag into an upper positive pressure conformal area and a lower negative pressure dust absorption area;
a dust collection branch air passage is communicated with the dust collection box and the negative pressure dust collection area of the air bag, and a plurality of auxiliary dust collection ports are arranged at the bottom of the air bag corresponding to the negative pressure dust collection area;
the other end of the dust collection fan is communicated with an air outlet main air passage used for discharging air, the air outlet main air passage is provided with an air outlet branch air passage, and the air outlet branch air passage is communicated with the positive pressure shape-preserving area of the air bag;
the air outlet branch air passage is provided with an air valve, when the air valve is closed, the positive pressure generated by the positive pressure shape-preserving area is zero, and the air bag is contracted into the tail bin under the negative pressure action of the negative pressure dust suction area; when the air valve is opened, the positive pressure generated by the positive pressure shape-preserving area is larger than the absolute value of the negative pressure generated by the negative pressure dust suction area, and the air bag is expanded to keep a certain shape and can deform under the action of external force.
Optionally, the negative pressure dust suction area of the air bag comprises at least two air bag inner air ducts arranged side by side, and the at least two air bag inner air ducts converge to the dust suction branch air duct.
Optionally, the bottom surface of the air bag for contacting the ground is provided with a plurality of sliding protrusions.
Optionally, a pressure relief valve is further arranged on the air bag, and when the pressure relief valve is opened, air in the air bag is discharged.
Optionally, the method further comprises: and an infrared sensing unit disposed at the upper case.
Optionally, a control baffle is arranged in the cavity of the dust collecting box, when the tail bin door is not opened and only the main dust suction port works, the control baffle is closed to prevent dust from entering the dust suction branch air passage, and when the tail bin door is opened and the auxiliary dust suction port works, the control baffle is opened.
Optionally, the material of the airbag is an elastic and stretchable material.
Optionally, the connecting end of the airbag is provided with a solid connecting part; the solid connecting part is fixed in the tail bin through threads.
A control method of a deformable sweeping robot comprises the following steps:
1) when the normal cleaning mode is switched to the corner cleaning mode, the control circuit controls the automatic walking unit to turn the sweeping robot by 180 degrees, so that the air bag runs towards the corner;
2) the control circuit controls the air valve to be opened, the positive pressure generated by the positive pressure conformal area is greater than the absolute value of the negative pressure generated by the negative pressure dust suction area, the air bag contracted in the tail bin is popped, and the tail bin door is naturally jacked open;
3) under the action of a dust collection fan, gas enters a positive pressure shape-preserving area of the air bag from an air outlet branch air passage arranged in an air outlet main air passage, so that the air bag is inflated and expanded; after the air bag is opened to a certain degree, the exposed auxiliary dust suction port adsorbs dust and sends the dust into the dust collection box through the dust suction branch air passage.
Optionally, the robot cleaner further comprises an automatic mode, in the automatic mode, the infrared sensing unit detects whether an obstacle exists in the moving direction of the sweeping robot, the control circuit judges whether the obstacle is a corner according to a signal of the infrared sensing unit, and if the obstacle is a corner, the control circuit switches from the normal sweeping mode to the corner sweeping mode.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
through above-mentioned technical scheme, can utilize the flexible robot of sweeping the floor, when sweeping the mode from normal cleaning mode switch to the corner, pop out the gasbag of shrink in the tail bin for the vice dust absorption mouth that exposes adsorbs dust, and send into the dust collection box through the branch air flue of dust absorption, moreover, this gasbag can take place deformation according to the shape in corner, can adapt to the corner shape, thereby, can effectively clean the dust in corner, promote and clean efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic structural diagram of a deformable sweeping robot provided in an embodiment of the present application;
fig. 2 is a bottom view of the sweeping robot from the bottom;
FIG. 3 is a schematic cross-sectional view of the balloon taken longitudinally along line AA;
fig. 4 is a schematic cross-sectional view of the balloon taken transversely along line BB.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a schematic structural diagram of a deformable sweeping robot provided in an embodiment of the present application is shown, where the deformable sweeping robot includes: an upper shell 101, a lower shell 102, a dust collecting box 103, a dust collecting fan 104, an automatic walking unit 105 and a control circuit 106 which are arranged between the upper shell and the lower shell; the dust collection box 103 is connected with the main dust suction port 107, the dust suction fan 104 and the power supply unit 122; the upper housing 101 and the lower housing 102 are made of the same material, and may be made of metal or plastic, and the upper housing 101 may be designed to have a certain arc-shaped structure according to the limitation of the internal structure. The automatic traveling unit 105 may be configured to realize its function of automatically moving and traveling by rotating a left wheel motor and a right wheel motor according to left and right wheels arranged thereon.
The deformable sweeping robot is different from the existing sweeping robot in structure, the upper shell 101 and the lower shell 102 of the deformable sweeping robot define an openable tail bin 108 at the tail part, and an air bag 109 is arranged in the tail bin 108; the volume of the tail bin 108 can be designed not to be particularly large, and the advantage of exquisite body type of the sweeping robot is perfectly ensured. An air bag 109 whose volume can be expanded and contracted by air pressure is provided in the tail bin 108.
Within the bladder 109, an inner bladder membrane 110 separates the bladder 109 into an upper positive pressure conformal region S1 and a lower negative pressure dust suction region S2; the material of the inner airbag membrane 110 is the same as that of the airbag 109, and generally, the inner airbag membrane 110 and the airbag 109 are integrally formed. Optionally, in the present invention, the material of the airbag 109 is an elastic stretchable material. The bladder 109 may be made of a deformable material such as rubber, silicone, woven material, or textile material. Preferably, the air bag 109 is made of a wear-resistant material, or a wear-resistant coating or material layer is coated or attached to the outer surface, preferably the bottom of the air bag. Meanwhile, a solid connecting part is arranged at the connecting end of the air bag 109; the solid connection is secured within the tail bin 108 by threads. In fact, this link can be provided with flexible connection portion, can dismantle through the mode of tying up to be fixed in tail storehouse 108 to, in having used the certain time, can dismantle the washing to gasbag 109. Preferably, the replaceable bladder 109 may have a different configuration, such as a bladder that focuses on wall corner cleaning, a relatively large positive pressure conformal region, and is flexible to deform easily and conform to the shape of a corner, and a length range of 10-20cm (defined as long in the rightward direction in FIG. 1) and a height range of 8-14cm after deployment; the special air bag for cleaning the bed bottom and the cabinet bottom is emphasized, the positive pressure shape-preserving area is relatively flat so as to control the whole thickness of the opened state of the air bag not to be too large, the air bag can conveniently extend into the corners of the bed bottom, the cabinet bottom and the like, the selected material is relatively hard, the length range of the air bag after being unfolded is 20-80cm, and the height range is 5-10 cm. Preferably, the balloon 109 is configured to be capable of curling naturally downward in an uninflated state. This crimping force is small, but with the assistance of the negative pressure, the balloon can be induced to crimp and retract in a direction to automatically retract into the tail bin 108.
The dust collecting branch air passage 111 is communicated with the dust collecting box 103 and the negative pressure dust collecting area S2 of the air bag 109, and a plurality of auxiliary dust collecting ports 112 are arranged at the bottom of the air bag 109 corresponding to the negative pressure dust collecting area S2. The plurality of auxiliary dust suction ports 112 may be uniformly arranged on the outermost layer of the air bag 109 so as to timely and effectively contact the dust on the innermost side of the corner, and the number of the auxiliary dust suction ports 112 may be set as required or according to the size of the air bag. Referring to fig. 2, the air bag 109 is expanded to have an arc shape in a bottom view seen from the bottom of the sweeping robot, and the sub-dust suction ports 112 are respectively distributed at the edges of the air bag 109. Meanwhile, the bottom surface of the air bag 109 for contacting the ground is provided with a plurality of sliding protrusions 117. These sliding bumps 117 may be solid or hollow for reducing friction of the air bag 109 with the ground, facilitating movement, and reducing wear on the air bag 109 after the air bag 109 is inflated and when moving in the corners. The presence of these minute sliding protrusions 117 also supports the air bag 109 so that the air bag 109 is kept at a predetermined distance from the floor surface, thereby facilitating dust suction through the sub-dust suction port 112.
As shown in fig. 1, a filter is disposed between the dust collecting box 103 and the dust suction fan 104 for filtering and adsorbing dust carried in the sucked air. The other end of the dust collection fan 104 is communicated with an air outlet main air duct 113 for discharging air, the air outlet main air duct 113 is provided with an air outlet branch air duct 114, and the air outlet branch air duct 114 is communicated with the positive pressure conformal area S1 of the air bag 109. Meanwhile, the air outlet branch air duct 114 is provided with an air valve 115, when the air valve 115 is closed, the positive pressure generated by the positive pressure conformal area S1 is zero, and the air bag 109 is contracted into the tail bin 108 under the negative pressure action of the negative pressure dust suction area S2; when the air valve 115 is opened, the positive pressure generated by the positive pressure conformal area S1 is larger than the absolute value of the negative pressure generated by the negative pressure dust suction area S2, and the air bag 109 is expanded to keep a certain shape and can be deformed under the action of external force.
Optionally, in the present invention, the negative pressure dust suction area S2 of the air bag 109 in the sweeping robot includes at least two air bag inner air ducts 116 arranged side by side, and the at least two air bag inner air ducts 116 converge to the dust suction branch air duct 111. Referring to the cross-sectional view of fig. 3, which is a longitudinal cut of the air bag 109 along the AA line, and fig. 4, which is a cross-sectional view of the air bag 109 along the BB line, the air bag inner duct 116 sucks dust and air through the bottom sub-dust suction port 112, enters the negative pressure dust suction area S2, converges to the dust suction branch air ducts 111 through the air bag inner ducts 116 at both sides, and finally sends the dust to the dust collection box 103 to collect and clean the dust.
In fact, in the present application, when the sweeping robot is in the normal sweeping mode, the control circuit 106 controls the sweeping robot to effectively sweep the exposed places such as the floor of the house by using the main dust suction port 107. After the corner cleaning mode is selected, the control circuit 106 controls the automatic walking unit 105 of the cleaning robot to change the walking direction, i.e. to change the tail bin 108 to partially move forward. Meanwhile, the control circuit 106 controls the air valve 115 to be opened, so that the air bag 109 is ejected from the tail bin 108 by the air charged into the positive pressure conformal area S1 by the dust suction fan 104, and the dust in the corner can be sucked away by the auxiliary dust suction port 112 at the bottom of the air bag 109. Moreover, because the air bag 109 can deform, the sweeping robot can change the shape of the sweeping robot along with the shape of the corner, so that the air bag 109 can be pushed into the corner and dust can be thoroughly sucked away no matter how complex the shape of the corner is. Therefore, the effective sweeping of the corners is realized, and the sweeping efficiency is improved.
Referring to fig. 1, a pressure relief valve 118 is further provided on the air bag 109, and when the pressure relief valve 118 is opened, gas in the air bag 109 is discharged. Furthermore, the air bag 109 can be conveniently contracted into the tail bin 108, and the collection efficiency is improved. The pressure relief valve 118 on the air bag 109 may be a nozzle cover or other structure to facilitate opening and releasing the air in the air bag 109. Optionally, in the present invention, the sweeping robot may further include: and an infrared sensing unit 121 disposed at the upper case 101. The infrared sensing unit 121 can be used to detect whether there is an obstacle in the moving direction and the front of the floor sweeping robot, and whether the front is a corner, so as to inform the control circuit 106 to control the automatic walking unit 105 to adjust the walking direction in time, and avoid hitting the front obstacle or being stuck in the corner. It should be noted that when switching to the corner cleaning mode, the sweeping robot may be allowed to move around the obstacle or rotate circularly, so as to clean the corner area completely; or when the corner cleaning mode is switched to, when the infrared sensing unit 121 detects that the front is a corner, the control circuit 106 controls the automatic walking unit 105 to turn the sweeping robot by a certain angle, so that the air bag 109 travels towards the corner, and the air bag is started to clean the corner. The certain angle here may be calculated by an algorithm module built in the control circuit 106 according to the results obtained by the distance measurement and the angle measurement when the sweeping robot detects that the front is a corner through the infrared sensing unit 121, for example, the calculation result is determined to be in the 2 o' clock direction of the sweeping robot, and then the sweeping robot is controlled to travel in a direction forming an angle of 60 ° with the front. And if the calculation result determines that the corner is positioned right ahead of the current walking direction of the sweeping robot, the robot can rotate 180 degrees and then walk to the corner.
Preferably, the infrared sensing unit 121 is an infrared camera, and a vision recognition algorithm is preset in the control circuit 106 for recognizing whether the front obstacle is a straight line type (side obstacle) or a straight line intersection type (corner obstacle). The visual recognition algorithm includes at least one or more of a visual analysis algorithm, a pattern recognition algorithm, and a feature extraction algorithm, but is not limited thereto.
Preferably, an algorithm preset in the control circuit 106 can judge whether there is a step or an edge in front based on the signal obtained from the infrared sensing unit 121, and control the automatic walking unit 105 to climb a lower step or to reverse to prevent falling.
Preferably, the sweeping robot further comprises a charging station (not shown in the figure), the sweeping robot can automatically find the position of the charging station, and return to the charging station when the electric quantity is lower than a preset value, and the sweeping robot is in butt joint with a port of the charging station for charging; or, the sweeping robot returns to the charging station when the electric quantity is lower than the preset value, the wireless charging mode is started, and the receiving coil carried by the sweeping robot is used for wireless charging (correspondingly, the charging station at the moment is the transmitting coil corresponding to the charging coil in the sweeping robot).
Preferably, a control baffle 119 is arranged in the cavity of the dust collection box 103, when the tail bin door 120 is not opened and only the main dust suction port 107 is in operation, that is, when the sweeping robot is in a normal sweeping mode, the control baffle 119 is closed to prevent dust from entering the dust suction branch air passage 111, and when the tail bin door 120 is opened and the auxiliary dust suction port 112 is in operation, that is, when the sweeping robot is in a corner sweeping mode, the control baffle 119 is opened so that dust adsorbed by the auxiliary dust suction port 112 can enter the dust collection box 103 through the dust suction branch air passage 111. Meanwhile, the invention also provides a control method of the deformable sweeping robot, which mainly comprises the following steps:
1) when detecting that the cleaning robot is switched from the normal cleaning mode to the corner cleaning mode, firstly, the control circuit 106 controls the automatic walking unit 105 to turn the cleaning robot by a certain angle, so that the air bag 109 runs towards the corner;
2) the control circuit 106 controls the air valve 115 to open, the positive pressure generated by the positive pressure conformal area S1 is greater than the absolute value of the negative pressure generated by the negative pressure dust suction area S2, an air bag contracted in the tail bin is ejected, and the tail bin door is naturally jacked open;
3) under the action of the dust collection fan, gas enters the positive pressure conformal area of the air bag 109 through the air outlet branch air passage 114 arranged in the air outlet main air passage 113, so that the air bag 109 is inflated and expanded; after the air bag 109 is opened to some extent, the exposed sub dust suction port 112 sucks dust and sends the dust into the dust box 103 through the dust suction branch air duct 111.
Preferably, step 2) further includes the step of opening the control flap 119.
Preferably, the control method further includes: the sweeping robot can be switched to an automatic mode, in which the infrared sensing unit 121 detects whether there is an obstacle in the moving direction of the sweeping robot, the control circuit 106 determines whether the obstacle is a corner according to the signal of the infrared sensing unit 121, and if so, the normal sweeping mode is switched to the corner sweeping mode.
Through above-mentioned technical scheme, can utilize the flexible robot of sweeping the floor, when sweeping the mode from normal cleaning mode switch to the corner, utilize to pop out the gasbag of shrink in the tail bin for the vice dust absorption mouth that exposes adsorbs dust, and send into the dust collection box through a dust absorption air flue, moreover, this gasbag can take place deformation according to the deformation in corner, can use the corner shape, thereby, can effectively clean the dust in corner, promote and clean efficiency.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A deformable floor sweeping robot comprises an upper shell, a lower shell, a dust collecting box, a dust collecting fan, an automatic walking unit and a control circuit, wherein the dust collecting box, the dust collecting fan, the automatic walking unit and the control circuit are arranged between the upper shell and the lower shell; the dust collecting box is connected with the main dust suction port and the dust suction fan; the tail gas recovery device is characterized in that the tail parts of the upper shell and the lower shell define an openable tail bin, and an air bag is arranged in the tail bin; an airbag inner membrane separates the airbag into an upper positive pressure conformal area and a lower negative pressure dust absorption area; a dust collection branch air passage is communicated with the dust collection box and the negative pressure dust collection area of the air bag, and a plurality of auxiliary dust collection ports are arranged at the bottom of the air bag corresponding to the negative pressure dust collection area; the other end of the dust collection fan is communicated with an air outlet main air passage used for discharging air, the air outlet main air passage is provided with an air outlet branch air passage, and the air outlet branch air passage is communicated with the positive pressure shape-preserving area of the air bag; the air outlet branch air passage is provided with an air valve, when the air valve is closed, the positive pressure generated by the positive pressure shape-preserving area is zero, and the air bag is contracted into the tail bin under the negative pressure action of the negative pressure dust suction area; when the air valve is opened, the positive pressure generated by the positive pressure shape-preserving area is larger than the absolute value of the negative pressure generated by the negative pressure dust suction area, and the air bag is expanded to keep a certain shape and can deform under the action of external force.
2. A deformable sweeping robot as claimed in claim 1, wherein the negative pressure dust suction area of the air bag comprises at least two air bag inner air ducts arranged side by side, and the at least two air bag inner air ducts converge to the dust suction branch air duct.
3. A deformable sweeping robot according to claim 1, wherein the bottom surface of the bladder for contacting the floor is provided with a plurality of sliding projections.
4. A deformable sweeping robot as claimed in claim 1, wherein a pressure relief valve is provided on said bladder, and when said pressure relief valve is opened air within said bladder is vented.
5. The deformable sweeping robot of claim 1, further comprising: and an infrared sensing unit disposed at the upper case.
6. A deformable sweeping robot as claimed in claim 1, wherein a control flap is provided in the chamber of the dust collecting box, the control flap is closed when the tailgate door is not opened and only the main dust suction opening is in operation for blocking dust from entering the dust suction branch air passage, and the control flap is opened when the tailgate door is opened and only the auxiliary dust suction opening is in operation.
7. A deformable sweeping robot as claimed in claim 1, wherein the bladder is made of an elastic and stretchable material.
8. A deformable sweeping robot as claimed in claim 1, wherein the connecting end of the air bag is provided with a solid connecting part; the solid connecting part is fixed in the tail bin through threads.
9. A method for controlling a deformable sweeping robot according to any one of claims 1-8, comprising: 1) When the normal cleaning mode is switched to the corner cleaning mode, the control circuit controls the automatic walking unit to turn the sweeping robot by 180 degrees, so that the air bag runs towards the corner; 2) The control circuit controls the air valve to be opened, the positive pressure generated by the positive pressure conformal area is greater than the absolute value of the negative pressure generated by the negative pressure dust suction area, the air bag contracted in the tail bin is popped, and the tail bin door is naturally jacked open; 3) under the action of a dust collection fan, gas enters a positive pressure shape-preserving area of the air bag from an air outlet branch air passage arranged in an air outlet main air passage, so that the air bag is inflated and expanded; after the air bag is opened to a certain degree, the exposed auxiliary dust suction port adsorbs dust and sends the dust into the dust collection box through the dust suction branch air passage.
10. The control method as claimed in claim 9, further comprising an automatic mode in which the infrared sensing unit detects whether there is an obstacle in the moving direction of the sweeping robot, the control circuit determines whether the obstacle is a corner according to a signal of the infrared sensing unit, and if so, switches from the normal sweeping mode to the corner sweeping mode.
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| CN201711180659.XA CN107898394B (en) | 2017-11-23 | 2017-11-23 | Deformable floor sweeping robot and control method thereof |
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| CN201711180659.XA CN107898394B (en) | 2017-11-23 | 2017-11-23 | Deformable floor sweeping robot and control method thereof |
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| CN107898394B true CN107898394B (en) | 2020-04-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108634876B (en) * | 2018-05-22 | 2020-12-08 | 博兴战新产业发展有限公司 | Robot part dish |
| CN109602350B (en) * | 2019-01-11 | 2023-02-07 | 王力 | Building outer wall cleaning device and method |
| CN109645901B (en) * | 2019-02-01 | 2024-01-23 | 南通绿能环保设备有限公司 | Dust sweeping machine capable of self-adapting to space area |
| CN111501635A (en) * | 2020-04-23 | 2020-08-07 | 杭州能发科技有限公司 | Bionic robot walking obstacle removing device in advance |
| CN112401758B (en) * | 2020-11-16 | 2021-10-01 | 上海交通大学 | Deformable sweeping robot with corner cleaning mode and control method thereof |
| CN112684655B (en) * | 2020-12-29 | 2022-10-04 | 成都极米科技股份有限公司 | Impurity cleaning method, device and system for projector and projector |
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| CN2164427Y (en) * | 1993-09-09 | 1994-05-11 | 泸州机器厂 | Dust sucker of cleaning vehicle |
| CN104032699A (en) * | 2014-06-11 | 2014-09-10 | 温州职业技术学院 | Flexible dust suction mouth device |
| CN204839361U (en) * | 2015-07-30 | 2015-12-09 | 天津辉旭昇科技有限公司 | Intelligence dust catcher |
| CN106725103A (en) * | 2016-12-27 | 2017-05-31 | 上海未来伙伴机器人有限公司 | A kind of novel household robot |
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| JP2015030057A (en) * | 2013-08-02 | 2015-02-16 | 株式会社リコー | Polishing and cleansing tool |
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| CN2164427Y (en) * | 1993-09-09 | 1994-05-11 | 泸州机器厂 | Dust sucker of cleaning vehicle |
| CN104032699A (en) * | 2014-06-11 | 2014-09-10 | 温州职业技术学院 | Flexible dust suction mouth device |
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| CN106725103A (en) * | 2016-12-27 | 2017-05-31 | 上海未来伙伴机器人有限公司 | A kind of novel household robot |
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